import sys from tp00 import Tp00 import tpUtils from constant import * import json import time # Register addresses. MPR121_I2CADDR_DEFAULT = 0x5A MPR121_TOUCHSTATUS_L = 0x00 MPR121_TOUCHSTATUS_H = 0x01 MPR121_FILTDATA_0L = 0x04 MPR121_FILTDATA_0H = 0x05 MPR121_BASELINE_0 = 0x1E MPR121_MHDR = 0x2B MPR121_NHDR = 0x2C MPR121_NCLR = 0x2D MPR121_FDLR = 0x2E MPR121_MHDF = 0x2F MPR121_NHDF = 0x30 MPR121_NCLF = 0x31 MPR121_FDLF = 0x32 MPR121_NHDT = 0x33 MPR121_NCLT = 0x34 MPR121_FDLT = 0x35 MPR121_TOUCHTH_0 = 0x41 MPR121_RELEASETH_0 = 0x42 MPR121_DEBOUNCE = 0x5B MPR121_CONFIG1 = 0x5C MPR121_CONFIG2 = 0x5D MPR121_CHARGECURR_0 = 0x5F MPR121_CHARGETIME_1 = 0x6C MPR121_ECR = 0x5E MPR121_AUTOCONFIG0 = 0x7B MPR121_AUTOCONFIG1 = 0x7C MPR121_UPLIMIT = 0x7D MPR121_LOWLIMIT = 0x7E MPR121_TARGETLIMIT = 0x7F MPR121_GPIODIR = 0x76 MPR121_GPIOEN = 0x77 MPR121_GPIOSET = 0x78 MPR121_GPIOCLR = 0x79 MPR121_GPIOTOGGLE = 0x7A MPR121_SOFTRESET = 0x80 class TpgI2cTouchSensor: """ TP Grove - I2C Touch Sensor """ def __init__(self, slot, host=None): """ コンストラクタ """ self.slot = slot self.comm = I2C self.host = host # アドレス self.i2c_addr = 0x5A self.tp00 = Tp00(self.slot, self.comm, self.host) self.tp00.start() self.__reset() def __reset(self): """ 初期化 """ # Lock self.tp00.lock(self.slot) try: # リセット send_data = [] send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_SOFTRESET, "v": [0x63]}) self.tp00.send(json.dumps(send_data)) time.sleep(0.001) # デフォルト値の設定 send_data = [] send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_ECR, "v": [0x00]}) self.tp00.send(json.dumps(send_data)) # デフォルト値の確認 send_data = [] send_data.append( {"act": "r", "add": self.i2c_addr, "cmd": MPR121_CONFIG2, "len": 1}) _result = self.tp00.send(json.dumps(send_data)) result_data = json.loads(_result.decode()) c = result_data[0][0] if c != 0x24: raise ValueError('TpgI2cTouchSensor init failed.') # しきい値の設定 self.__set_thresholds(12, 6) # 制御レジスタの構成 send_data = [] send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_MHDR, "v": [0x01]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_NHDR, "v": [0x01]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_NCLR, "v": [0x0E]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_FDLR, "v": [0x00]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_MHDF, "v": [0x01]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_NHDF, "v": [0x05]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_NCLF, "v": [0x01]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_FDLF, "v": [0x00]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_NHDT, "v": [0x00]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_NCLT, "v": [0x00]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_FDLT, "v": [0x00]}) # Set other configuration registers. send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_DEBOUNCE, "v": [0]}) # default, 16uA charge current send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_CONFIG1, "v": [0x10]}) # 0.5uS encoding, 1ms period send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_CONFIG2, "v": [0x20]}) # Enable all electrodes. # start with first 5 bits of baseline tracking send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_ECR, "v": [0x8F]}) self.tp00.send(json.dumps(send_data)) finally: # unLock self.tp00.unlock(self.slot) def __set_thresholds(self, touch, release): """ 提供されたすべての入力のタッチおよびリリースのしきい値を設定する touchとreleaseの値は0〜255の間の値でなければなりません """ assert touch >= 0 and touch <= 255, 'touch must be between 0-255 (inclusive)' assert release >= 0 and release <= 255, 'release must be between 0-255 (inclusive)' for i in range(12): send_data = [] send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_TOUCHTH_0 + 2*i, "v": [touch]}) send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": MPR121_RELEASETH_0 + 2*i, "v": [release]}) self.tp00.send(json.dumps(send_data)) def get_data(self): """ 値を取得します。 """ send_data = [] send_data.append( {"act": "r", "add": self.i2c_addr, "cmd": MPR121_TOUCHSTATUS_L, "len": 2}) _result = self.tp00.send(json.dumps(send_data)) result_data = json.loads(_result.decode()) ret1 = result_data[0][0] ret2 = result_data[0][1] * 256 current_touched = (ret1 + ret2) & 0x0FFF objRet = [] for i in range(12): pin_bit = 1 << i flg = 0 if current_touched & pin_bit: # touched flg = 1 objRet.append(flg) return objRet if __name__ == '__main__': argvs = sys.argv if (len(argvs) <= 1): tpUtils.stderr('Need argv! [1]: slot') sys.exit(0) try: slot = argvs[1] host = None if (len(argvs) > 2): host = argvs[2] tpgI2cTouchSensor = TpgI2cTouchSensor(slot, host) except Exception as e: tpUtils.stderr(str(e.args)) sys.exit(0) while True: try: data = input() recv_data = tpgI2cTouchSensor.get_data() tpUtils.nodeOut(json.dumps(recv_data)) except KeyboardInterrupt: sys.exit(0) except Exception as e: tpUtils.stderr(str(e.args)) tpUtils.nodeOut("")